CMakeLists.txt 1.66 KB
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cmake_minimum_required(VERSION 2.8.3)
project(iri_opendrive_global_planner)

ADD_DEFINITIONS(-D_HAVE_XSD)

find_package(catkin REQUIRED
  COMPONENTS
    costmap_2d
    dynamic_reconfigure
    geometry_msgs
    nav_core
    nav_msgs
    pluginlib
    roscpp
    tf2_geometry_msgs
    tf2_ros
)

find_package(iriutils REQUIRED)
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find_package(autonomous_driving_tools REQUIRED)
find_package(opendrive_road_map REQUIRED)
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generate_dynamic_reconfigure_options(
  cfg/OpendriveGlobalPlanner.cfg
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS
    costmap_2d
    dynamic_reconfigure
    geometry_msgs
    nav_core
    nav_msgs
    pluginlib
    roscpp
    tf2_ros
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${iriutils_INCLUDE_DIRS}
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  ${autonomous_driving_tools_INCLUDE_DIR}
  ${opendrive_road_map_INCLUDE_DIRS}
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)

add_library(${PROJECT_NAME}
  src/opendrive_planner.cpp
)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARIES})
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target_link_libraries(${PROJECT_NAME} ${autonomous_driving_tools_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${opendrive_road_map_LIBRARIES})
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install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  PATTERN ".svn" EXCLUDE)

install(FILES opendrive_gp_plugin.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})